CN114426022A - Method and system for detecting retrograde vehicle - Google Patents

Method and system for detecting retrograde vehicle Download PDF

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Publication number
CN114426022A
CN114426022A CN202110343425.2A CN202110343425A CN114426022A CN 114426022 A CN114426022 A CN 114426022A CN 202110343425 A CN202110343425 A CN 202110343425A CN 114426022 A CN114426022 A CN 114426022A
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China
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controller
speed
vehicle
signal
confidence score
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CN202110343425.2A
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CN114426022B (en
Inventor
M·J·乔伊斯
M·尼利
R·A·佩特劳德
C·L·海伊
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
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    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
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    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
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    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

A motor vehicle system for detecting a retrograde vehicle and alerting a third party includes a plurality of sensors that generate associated input signals indicative of characteristics of a target vehicle. The telematics module also includes a controller and a storage medium storing computer code executed by the controller. The computer code is configured to compare the characteristic of the target vehicle to an associated threshold. The computer code is further configured to determine a confidence score indicative of a retrograde vehicle in response to the controller determining that the characteristic exceeds the threshold. The computer code is further configured to compare the confidence score to a threshold score and generate a notification signal in response to the controller determining that the confidence score is above the threshold score. The telematics module sends a notification signal to a third party.

Description

Method and system for detecting vehicles in reverse
Technical Field
The present disclosure relates generally to driver assistance systems for motor vehicles, and more particularly, to methods and systems for detecting a retrograde vehicle and alerting other drivers.
Background
Retrograde motion is a dangerous result of driver error, particularly on highways, such as restricted access including toll roads or interstate highways. Retrograde motion can lead to a frontal collision, and the closing velocities of two vehicles on the highway can add up to form an excessively high velocity. For example, two vehicles approach each other at a speed of 65 miles per hour (mph), which may result in a 130mph collision. Driver error can be caused by a number of reasons, including intoxication and confusion of the driver.
Although some retrograde drivers are stopped by law enforcement and issue tickets, there may be some retrograde drivers who continue to drive in the opposite direction without being intercepted by law enforcement. In these cases, the road user may report a wrong-way driver to emergency response personnel (e.g., 911 computer-aided dispatch (CAD) call center). However, some road users may not report a wrong-way driver.
Thus, while existing driver assistance systems achieve their intended purpose, there remains a need for a method and system that detects a oncoming vehicle and alerts other drivers.
Disclosure of Invention
According to several aspects of the present disclosure, a motor vehicle system for detecting a retrograde vehicle and alerting a plurality of third parties is provided. The system includes a plurality of sensors mounted on the motor vehicle, wherein the sensors generate an associated one of a plurality of input signals indicative of a plurality of characteristics of the target vehicle. The system also includes a telematics module having a controller electrically connected to the sensor. The telematics module also includes a storage medium electrically connected to the controller and storing computer code executed by the controller. The computer code is configured to compare a characteristic of the target vehicle to an associated threshold in response to the controller receiving an input signal from the sensor. The computer code is further configured to determine a confidence score indicative of a retrograde vehicle in response to the controller determining that the characteristic exceeds the threshold. The computer code is further configured to compare the confidence score to a threshold score. The computer code is further configured to generate a notification signal in response to the controller determining that the confidence score is above the threshold score. The telematics module further includes a mobile communication unit electrically connected to the controller and transmitting the notification signal to a plurality of third parties.
In one aspect, the sensor includes at least one of a wheel speed sensor and a global positioning unit mounted on the motor vehicle. Each of the wheel speed sensor and the global positioning unit generates a first speed signal indicative of a speed of the motor vehicle. The global positioning unit generates a position signal indicative of the position of the motor vehicle and an associated incremental speed threshold. The controller is electrically connected to the wheel speed sensor and the global positioning unit for receiving the first speed signal and the position signal. The controller receives a second speed signal indicative of a speed of the target vehicle. The computer code is also configured to determine an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle in response to the controller receiving the first speed signal and the second speed signal. The computer code is also configured to compare the incremental speed to an incremental speed threshold in response to the controller receiving the position signal and the associated incremental speed threshold. In response to the controller determining that the incremental speed is above the incremental speed threshold, the controller increases the confidence score by a predetermined increment.
In another aspect, the sensor further comprises at least one of a radar sensor and a lidar sensor mounted on the motor vehicle for generating a second speed signal indicative of a speed of the target vehicle. The controller is electrically connected to the radar and the lidar for receiving the second velocity signal.
On the other hand, the mobile communication unit receives the second speed signal from the target vehicle in the V2V communication.
In another aspect, the sensor further includes a forward radar mounted on the motor vehicle and generating the forward signal in response to the forward radar detecting that the target vehicle is in front of the motor vehicle. The sensor also includes a rearward facing radar mounted on the motor vehicle and generating a rearward facing signal in response to the rearward facing radar detecting that the target vehicle is located rearward of the motor vehicle. The controller further increases the confidence score by a predetermined increment in response to the controller receiving a forward signal and subsequently receiving a backward signal associated with the target vehicle.
In another aspect, the controller starts a timer to determine a first duration of time that the forward radar detects a target vehicle located forward of the vehicle and a second duration of time that the rearward radar detects a target vehicle located rearward of the vehicle. The controller further increases the confidence score by a predetermined increment in response to the controller determining that each of the first duration and the second duration are less than the predetermined duration threshold.
In another aspect, the sensor further includes a forward-facing camera for capturing images of a target vehicle located in front of the motor vehicle. The computer code is configured to determine whether the image of the target vehicle shows one of a front end vehicle structure and a rear end vehicle structure. In response to the controller determining the front end structure of the image display target vehicle, the controller increases the confidence score by a predetermined increment.
According to several aspects of the present disclosure, a motor vehicle system for detecting a retrograde vehicle and alerting a plurality of third parties is provided. The system includes a plurality of sensors for generating an associated one of input signals indicative of a plurality of characteristics of the target vehicle. The system also includes a telematics module having a mobile communication unit that receives incoming notification signals from at least one third party. The incoming notification signal indicates a retrograde vehicle and an associated preliminary confidence score. The telematics module also includes a controller electrically connected to the sensor for receiving the input signal. The controller is electrically connected to the mobile communication unit for receiving the incoming notification signal. The telematics module also includes a storage medium electrically connected to the controller and storing computer code executed by the controller. The computer code is configured to compare a characteristic of the target vehicle to an associated threshold in response to the controller receiving an input signal from the sensor. The computer code is further configured to determine a confidence score indicative of a retrograde vehicle in response to the controller determining that the feature exceeds the associated threshold and the controller receives the preliminary confidence score. The computer code is further configured to compare the confidence score to a threshold score. The computer code is further configured to generate an outgoing notification signal in response to the controller determining that the confidence score is above the threshold score. The mobile communication unit sends the outgoing notification signal and the confidence score to the third party.
The controller determines a confidence score by adding the predetermined increment to the preliminary confidence score.
In another aspect, the sensor includes at least one of a wheel speed sensor and a global positioning unit mounted on the motor vehicle. Each of the wheel speed sensors and the global positioning unit generates a first speed signal indicative of a speed of the motor vehicle, and the global positioning unit also generates a position signal indicative of a position of the motor vehicle and an associated delta speed threshold. The controller is electrically connected to the wheel speed sensor and the global positioning unit for receiving the first speed signal and the position signal, and the controller receives a second speed signal indicative of a speed of the target vehicle. The computer code is also configured to determine an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle in response to the controller receiving the first speed signal and the second speed signal. The computer code is further configured to compare the incremental speed to an incremental speed threshold and the controller increases the confidence score by a predetermined increment in response to the controller receiving the position signal and determining that the incremental speed is above the incremental speed threshold.
In another aspect, the sensor further comprises at least one of a radar sensor and a lidar sensor mounted on the motor vehicle for generating a second speed signal indicative of a speed of the target vehicle. The controller is electrically connected to at least one of the radar and the lidar for receiving the second speed signal.
On the other hand, the mobile communication unit receives the second speed signal from the target vehicle in the V2V communication.
In another aspect, the sensor further includes a forward radar mounted on the motor vehicle and generating the forward signal in response to the forward radar detecting that the target vehicle is in front of the motor vehicle. The sensor also includes a rearward facing radar mounted on the motor vehicle and generating a rearward facing signal in response to the rearward facing radar detecting that the target vehicle is located rearward of the motor vehicle. The controller further increases the confidence score by a predetermined increment in response to the controller receiving a forward signal and subsequently receiving a backward signal associated with the target vehicle.
In another aspect, the controller starts a timer to determine a first duration of time that the forward radar detects a target vehicle located forward of the vehicle and a second duration of time that the rearward radar detects a target vehicle located rearward of the vehicle. The controller further increases the confidence score by a predetermined increment in response to the controller determining that each of the first duration and the second duration are less than the predetermined duration threshold.
According to several aspects of the present disclosure, a method of operating a motor vehicle system for detecting a retrograde vehicle and alerting a third party is provided. The system includes a plurality of sensors and a telematics module including a controller, a storage medium having computer code, and a mobile communication unit. The method includes generating an input signal indicative of an associated characteristic of the target vehicle using a sensor. The method also includes comparing, using the controller, the characteristic of the target vehicle to an associated threshold in response to the controller receiving the input signal from the sensor. The method also includes determining, using the controller, a confidence score indicative of a retrograde vehicle in response to the controller determining that the feature exceeds the associated threshold and the controller receives the preliminary confidence score. The method also includes comparing, using the controller, the confidence score to a threshold score. The method also includes generating, using the controller, an outgoing notification signal in response to the controller determining that the confidence score is above the threshold score. The method also includes sending, using the mobile communication unit, the outgoing notification signal and the confidence score to a third party.
In one aspect, the method further includes determining, using the controller, a confidence score by adding the predetermined increment to the preliminary confidence score.
In another aspect, the method further includes generating a first speed signal indicative of a speed of the motor vehicle using at least one of a wheel speed sensor and a global positioning unit. The method also includes generating, using a global positioning unit, a position signal indicative of a position of the motor vehicle and an incremental speed threshold associated with the position. The method also includes receiving, with the controller, a first speed signal, a position signal, and a second speed signal indicative of a speed of the target vehicle. The method also includes determining, using the controller, an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle in response to the controller receiving the first speed signal and the second speed signal. The method also includes comparing, using the controller, the incremental speed to an incremental speed threshold in response to the controller receiving the position signal. The method also includes increasing, using the controller, the confidence score by a predetermined increment in response to the controller determining that the incremental speed is above the incremental speed threshold.
In another aspect, the method further includes generating a forward signal using a forward radar in response to the forward radar detecting that the target vehicle is in front of the motor vehicle. The method also includes generating a rearward signal using the rearward radar in response to the rearward radar detecting that the target vehicle is behind the motor vehicle. The method also includes increasing, using the controller, the confidence score by a predetermined increment in response to the controller receiving a forward signal and then a backward signal associated with the target vehicle.
In another aspect, the method further includes starting a timer using the controller to determine a first duration of time that the forward radar detects a target vehicle located forward of the vehicle and a second duration of time that the rearward radar detects a target vehicle located rearward of the vehicle. The method also includes increasing, using the controller, the confidence score by a predetermined increment in response to the controller determining that each of the first duration and the second duration are less than the predetermined duration threshold.
In another aspect, the method further includes capturing an image of a target vehicle located in front of the motor vehicle using a forward-facing camera. The method also includes determining, using the controller, whether the image of the target vehicle shows one of a front end vehicle structure and a rear end vehicle structure. The method also includes increasing, using the controller, the confidence score by a predetermined increment in response to the controller determining the front end structure of the image display target vehicle.
Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
Drawings
FIG. 1 is a schematic diagram of one example of a motor vehicle having a system for detecting retrograde vehicles and alerting a plurality of third parties.
FIG. 2 is a flow chart of one example of a method of operating the system of FIG. 1.
Detailed Description
The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.
An exemplary system of a motor vehicle includes a controller or processor (hereinafter collectively referred to as a "controller") that executes computer code for a practical application for detecting a retrograde vehicle and issuing warnings to a plurality of third parties. To this extent, techniques and technologies may be described herein in terms of functional and/or logical block components, and with reference to symbolic representations of operations, processing tasks, and functions that may be performed by various computing components or devices. These operations, tasks, and functions are sometimes referred to as being computer-executed, computerized, software-implemented, or computer-implemented. Indeed, one or more processor devices may perform the operations, tasks, and functions described by manipulating electrical signals representing data bits at memory locations in system memory, as well as other signal processing. The memory locations where data bits are maintained are physical locations that have particular electrical, magnetic, optical, or organic properties corresponding to the data bits. It should be appreciated that the various block components shown in the figures may be implemented by any number of hardware, software, and/or firmware components configured to perform the specified functions.
The present description relates to examples of methods and systems that employ steps and activities performed by modules, including computers using discrete rules and calculations, incorporated into practical applications, such as detecting vehicles in reverse and alerting third parties. In this example, the method and system use one or more modules to determine a confidence score associated with a probability of a vehicle traveling in the wrong direction to alert the driver to the wrong direction while reducing false positive results. Practical applications of the present disclosure include the implementation or use of computer and/or mental active elements in conjunction with specific and overall machines and articles of manufacture. The particular machine used and the beneficial results achieved are tangible and tangible. The disclosed activities have practical value and address technical challenges. More specifically, in this example, the method and system use multiple sensors to detect features of the target vehicle, compare each feature to a threshold associated with a retrograde vehicle, and confirm the findings in order to provide robust analysis of the target vehicle, reduce human error, and improve the accuracy of the detection.
The module may be implemented in whole or in part as a hardware circuit comprising discrete components. A module may also be implemented in programmable hardware devices, programmable logic devices or the like. Modules may also be implemented in software for execution by various types of processors. An identified module of executable code may, for instance, comprise one or more physical or logical modules of computer instructions which may, for instance, be organized as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different locations which, when joined logically together, comprise the module and achieve the stated purpose for the module. Indeed, a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices. Similarly, the operational data may be embodied in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed over different locations including over different storage devices, and may exist, at least partially, merely as electronic signals on a system or network.
Referring to fig. 1, one example of a motor vehicle 100 is shown having a system 102 for detecting vehicles 104 traveling in a reverse direction on a road and alerting a plurality of third parties. These third parties may include drivers of vehicles 106 located within a predetermined radius and having a Vehicle-To-Vehicle (V2V) communication system. In this example, the third party may include a driver of a vehicle that follows motor vehicle 100 on the same road. In other examples, the third party may include an emergency call center for the first responder.
The system 102 includes a plurality of sensors 108 for generating an associated one of the input signals indicative of a plurality of characteristics of the target vehicle 104. In this example, the sensors 108 include at least one of a wheel speed sensor 110 and a global positioning unit 112 mounted on the motor vehicle 100, each of the wheel speed sensor 110 and the global positioning unit 112 generating a first speed signal indicative of the speed of the motor vehicle 100. In addition, global positioning unit 112 also generates a position signal indicative of the position of motor vehicle 100 and an incremental speed threshold associated with the position. The incremental speed threshold and associated location may be stored in a look-up reference table of the global positioning unit 112. The incremental speed threshold may indicate an empirically determined maximum speed difference for two vehicles traveling in the same direction at the associated location. For example, the incremental speed threshold associated with an interstate highway at which the speed limit is 70mph may be 90 mph. A motor vehicle traveling unidirectionally at a speed of 60mph on an interstate highway and a vehicle traveling in the opposite direction at a speed of 31mph will produce an incremental speed of 91mph, which exceeds the 90mph incremental speed threshold on the interstate highway. Furthermore, co-traveling two vehicles at the same speed would produce an incremental speed of 0mph that would not exceed the incremental speed threshold. As another example, the incremental speed threshold associated with a one-way lane that limits the speed to 25mph may be 40 mph. A motor vehicle traveling at 25mph in one direction and a target vehicle traveling at 16mph in the opposite direction on a one-way road will produce an incremental speed of 41mph, which exceeds the 40mph incremental speed threshold on the one-way road. It is contemplated that the system may have any suitable incremental speed threshold associated with or independent of each location.
Sensor 108 may further include at least one of a remote radar sensor 114 and a remote lidar sensor 116 mounted on motor vehicle 100 for generating a second speed signal indicative of the speed of target vehicle 104. Continuing with the example, sensor 108 also includes a forward radar 118, forward radar 118 being mounted on motor vehicle 100 and generating a forward signal in response to forward radar 118 detecting that target vehicle 104 is located in front of motor vehicle 100. Sensor 108 also includes a rearward radar 120, with rearward radar 120 being mounted on motor vehicle 100 and generating a rearward signal in response to rearward radar 120 detecting that target vehicle 104 is located rearward of motor vehicle 100. Further, in this example, the sensor 108 also includes a forward-facing camera 122 for capturing images of the target vehicle 104 located in front of the motor vehicle 100.
The system 102 also includes a telematics module 124 having a mobile communication unit 126 configured to receive incoming notification signals from at least one of the third parties. The incoming notification signal indicates the retrograde vehicle, the preliminary confidence score, and the velocity of the retrograde vehicle. In one example, an incoming notification signal may be received from a vehicle or emergency call center that previously encountered a retrograde vehicle.
The telematics module 124 also includes a controller 128, the controller 128 being electrically connected to the sensor 108 for receiving input signals and the mobile communication unit 126 for receiving incoming notification signals. In this example, the controller 128 is electrically connected to at least one of the wheel speed sensor 110 and the global positioning unit 112 for receiving the first speed signal and the position signal. Controller 128 is also electrically connected to at least one of radar sensor 114 and lidar sensor 116 for receiving a second speed signal. In another example, the controller 128 is electrically connected to the mobile communication unit 126 for receiving the second speed signal from the target vehicle 104 or one or more third parties.
The telematics module 124 also includes a storage medium 130, the storage medium 130 being a non-transitory computer readable medium electrically connected to the controller 128 for storing computer code 132 executed by the controller 128. The computer code 132 is configured to compare the characteristic of the target vehicle 104 to an associated one of a plurality of thresholds in response to the controller 128 receiving the input signal from the sensor 108. The computer code 132 is further configured to determine an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle in response to the controller receiving the first speed signal, the position signal, and the second speed signal.
The computer code 132 is further configured to determine a confidence score indicative of a retrograde vehicle in response to the controller 128 determining that the characteristic exceeds a threshold. The controller 128 determines a confidence score by selectively adding the predetermined increment to the preliminary confidence score based on the comparison of the feature to the threshold. For example, the computer code 132 is further configured to compare the incremental speed to an incremental speed threshold. In response to the controller 128 determining that the incremental speed is above the incremental speed threshold, the controller 128 increases the confidence score by adding the predetermined increment to the preliminary confidence score. For example, if controller determines that the incremental speed of motor vehicle 100 and target vehicle 104 traveling on an interstate highway is 101mph, controller 128 may determine that the incremental speed exceeds the 100mph incremental speed threshold of the interstate highway, and controller 128 may increase the confidence score by adding the predetermined increment to the preliminary confidence score.
In response to the controller 128 receiving a forward signal from the forward radar 118 and subsequently receiving a backward signal from the backward radar 120, the controller 128 further increases the confidence score by a predetermined increment.
The controller 128 further increases the confidence score by a predetermined increment in response to the forward radar and the rearward radar detecting that the target vehicle is moving from a position forward of the vehicle to a position rearward of the vehicle at the predetermined speed. Specifically, the controller 128 starts a timer to determine a first duration of time that the forward radar 118 detects a target vehicle located forward of the vehicle and a second duration of time that the rearward radar detects a target vehicle located rearward of the vehicle. In response to the controller 128 determining that each of the first duration and the second duration is shorter than the predetermined duration threshold associated with the location, the controller 128 increases the confidence score by a predetermined increment. For example, for an interstate highway, the predetermined duration threshold may be 5 seconds, and in response to the controller determining that the forward radar detected the target vehicle 104 first for less than 5 seconds, and the backward radar subsequently detected the target vehicle 104 for less than 5 seconds, the controller may increase the confidence score by a predetermined increment. It is contemplated that the predetermined duration threshold may be greater than or less than 5 seconds and correspond to a road.
The computer code 132 is configured to determine whether the image of the target vehicle 104 shows one of a front-end vehicle structure and a rear-end vehicle structure, and in response to the controller 128 determining that the image shows the front-end structure of the target vehicle, the controller 128 increases the confidence score by a predetermined increment. The computer code 132 may include object classification data for determining whether the image is a front end vehicle structure or a rear end vehicle structure. It is contemplated that the system may compare other suitable characteristics of the target vehicle to associated thresholds to detect a retrograde driver.
The computer code 132 is configured to compare the confidence score to a threshold score and generate an outgoing notification signal in response to the controller 128 determining that the confidence score is above the threshold score. The mobile communication unit 126 sends the outgoing notification signal and confidence score to the third party.
Referring to FIG. 2, a flow chart of one example of a method 200 of operating the system 102 of FIG. 1 is shown. The method 200 begins at block 202, where the sensors 108 generate an associated one of the input signals indicative of a characteristic of the target vehicle 104. Specifically, at least one of the wheel speed sensor 110 and the global positioning unit 112 generates a first speed signal indicative of the speed of the motor vehicle 100. Global positioning unit 112 generates a position signal indicative of the position of motor vehicle 100 and an incremental speed threshold associated with the position. Forward radar 118 generates a forward signal in response to forward radar 118 detecting that target vehicle 104 is located forward of motor vehicle 100. Rear radar 120 generates a rear signal in response to rear radar 120 detecting that target vehicle 104 is behind motor vehicle 100. The forward-facing camera 122 captures images of the target vehicle 104 located in front of the motor vehicle 100.
At block 204, in response to the controller 128 determining that the feature exceeds the threshold and the controller receives the preliminary confidence score, the controller 128 determines a confidence score indicative of the retrograde vehicle 104. More specifically, the controller 128 may receive the preliminary confidence score from one or more third parties through the mobile communication unit 126. The controller 128 may determine the confidence score by adding the predetermined increment to the preliminary confidence score for each third party that sent the incoming notification signal to the vehicle 100. Further, as described in detail below, in response to the controller 128 receiving input signals from the sensors 108, the controller 128 compares the characteristics of the target vehicle 104 to an associated one of the thresholds to further determine a confidence score.
In this example, the controller 128 receives a first speed signal, a position signal, an associated incremental speed threshold, and a second speed signal. In response to the controller receiving the first speed signal and the second speed signal, the controller 128 determines an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle. The controller 128 compares the incremental speed to an incremental speed threshold. If the controller 128 determines that the incremental speed is above the incremental speed threshold, the method 200 proceeds to block 206. If the controller 128 determines that the incremental speed is below the incremental speed threshold, the method 200 proceeds to block 208.
At block 206, the controller 128 increases the confidence score by a predetermined increment.
At block 208, the controller 128 decreases the confidence score by a predetermined increment.
At block 210, controller 128 determines whether forward radar 118 generates a forward signal before a backward radar generates a backward signal. If the controller 128 determines that the controller received a forward signal and subsequently a backward signal associated with the target vehicle, the method proceeds to block 212. If the controller 128 determines that the controller has not received a forward signal and subsequently receives a backward signal associated with the target vehicle, the method proceeds to block 214.
At block 212, the controller 128 increases the confidence score by a predetermined increment.
At block 214, the controller 128 reduces the confidence score by a predetermined increment.
At block 216, the controller 128 starts a timer to determine a first duration of time that the forward radar detects the target vehicle 104 located forward of the vehicle 100 and a second duration of time that the rearward radar 120 detects the target vehicle 104 located rearward of the vehicle 100. If the controller 128 determines that each of the first duration and the second duration is less than the predetermined duration threshold, the method proceeds to block 218. If the controller 128 determines that at least one of the first duration and the second duration is not less than the predetermined duration threshold, the method proceeds to block 220.
At block 218, the controller 128 increases the confidence score by a predetermined increment.
At block 220, the controller 128 decreases the confidence score by a predetermined increment.
At block 222, the controller 128 determines whether the image of the target vehicle is a front end vehicle structure or a rear end vehicle structure. If the controller 128 determines that the image shows the front end vehicle structure of the target vehicle 104, the method proceeds to block 224. If the controller 128 determines that the image does not show the front vehicle structure of the target vehicle 104, the method proceeds to block 226.
At block 224, the controller 128 increases the confidence score by a predetermined increment.
At block 226, the controller 128 decreases the confidence score by a predetermined increment.
At block 228, the controller 128 compares the confidence score to a predetermined threshold score stored in the storage medium. If the confidence score is above the threshold score, the method 200 proceeds to block 230. If the confidence score is below the threshold score, the method terminates.
At block 230, the controller 128 generates an outgoing notification signal and sends the outgoing notification signal with the confidence score to the third party. The outgoing notification signal is received by a third party, such as a driver of a vehicle 106 following the motor vehicle 100, and alerts him to the vehicle 104 going backwards. In this example, the system 102 may include a notification device 134 (fig. 1), such as a display device or speaker, for alerting a driver of the retrograde vehicle.
The description of the disclosure is merely exemplary in nature and variations that do not depart from the gist of the disclosure are intended to be within the scope of the disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure.

Claims (10)

1. A motor vehicle system for detecting a retrograde vehicle and alerting a plurality of third parties, the system comprising:
a plurality of sensors mounted on the motor vehicle and generating an associated one of a plurality of input signals indicative of a plurality of characteristics of a target vehicle; and
a telematics module comprising:
a controller electrically connected to the sensor;
a storage medium electrically connected to the controller and storing computer code executed by the controller, wherein the computer code is configured to:
in response to the controller receiving an input signal from the sensor, comparing the plurality of characteristics of the target vehicle to an associated one of a plurality of thresholds;
in response to the controller determining that the feature exceeds the threshold, determining a confidence score indicative of the retrograde vehicle;
comparing the confidence score to a threshold score; and
Generating a notification signal in response to the controller determining that the confidence score is above the threshold score; and
a mobile communication unit electrically connected to the controller and transmitting the notification signal to the plurality of third parties.
2. The system of claim 1, wherein the plurality of sensors comprises:
at least one of a wheel speed sensor and a global positioning unit mounted on the motor vehicle, wherein each of the wheel speed sensor and the global positioning unit generates a first speed signal indicative of a speed of the motor vehicle, and the global positioning unit further generates a position signal indicative of a position of the motor vehicle and a delta speed threshold associated with the position;
wherein the controller is electrically connected to at least one of the wheel speed sensor and the global positioning unit for receiving the first speed signal and the position signal, and the controller receives a second speed signal indicative of a speed of the target vehicle;
wherein the computer code is further configured to determine an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle in response to the controller receiving the first speed signal, the position signal, and the second speed signal;
Wherein the computer code is further configured to compare the incremental speed to the incremental speed threshold and the controller increases the confidence score by a predetermined increment in response to the controller determining that the incremental speed is above the incremental speed threshold.
3. The system of claim 1, wherein the plurality of sensors further comprises:
at least one of a radar sensor and a lidar sensor mounted on the motor vehicle for generating the second speed signal indicative of a speed of the target vehicle;
wherein the controller is electrically connected to at least one of the radar and the lidar for receiving the second speed signal.
4. The system of claim 2, wherein the mobile communication unit receives the second speed signal from the target vehicle in a V2V communication.
5. The system of claim 2, wherein the plurality of sensors further comprises:
a forward radar mounted on the motor vehicle and generating a forward signal in response to the forward radar detecting that the target vehicle is in front of the motor vehicle;
A rear-facing radar mounted on the motor vehicle and generating a rear-facing signal in response to the rear-facing radar detecting that the target vehicle is located behind the motor vehicle;
wherein the controller further increases the confidence score by the predetermined increment in response to the controller receiving the forward signal and subsequently receiving the backward signal associated with the target vehicle.
6. The system of claim 5, wherein the controller starts a timer to determine a first duration of time that the forward radar detects the target vehicle in front of the vehicle and a second duration of time that the rearward radar detects the target vehicle behind the vehicle, wherein the controller further increases the confidence level by the predetermined increment in response to the controller determining that each of the first duration and the second duration is less than a predetermined duration threshold.
7. The system of claim 6, wherein the plurality of sensors further includes a forward-facing camera for capturing an image of the target vehicle positioned in front of the motor vehicle, and the computer code is configured to determine whether the image of the target vehicle shows one of a front-end vehicle structure and a rear-end vehicle structure, and the controller increases the confidence score by the predetermined increment in response to the controller determining that the image shows the front-end structure of the target vehicle.
8. A motor vehicle system for detecting a retrograde vehicle and alerting a plurality of third parties, the system comprising:
a plurality of sensors for generating an associated one of input signals indicative of a plurality of characteristics of a target vehicle; and
a telematics module comprising:
a mobile communication unit to receive an incoming notification signal from at least one of the third parties, wherein the incoming notification signal is indicative of a retrograde vehicle and a preliminary confidence score;
a controller electrically connected to the sensor for receiving the input signal and the mobile communication unit for receiving the incoming notification signal;
a storage medium electrically connected to the controller and storing computer code executed by the controller, wherein the computer code is configured to:
in response to the controller receiving the input signal from the sensor, comparing the plurality of characteristics of the target vehicle to an associated one of a plurality of thresholds;
determining a confidence score indicative of the retrograde vehicle in response to the controller determining that the feature exceeds the threshold and the controller receives the preliminary confidence score;
Comparing the confidence score to a threshold score; and
generating an outgoing notification signal in response to the controller determining that the confidence score is above the threshold score;
wherein the mobile communication unit transmits an outgoing notification signal and a confidence score to the third party.
9. The system of claim 8, wherein the controller determines the confidence score by adding the predetermined increment to the preliminary confidence score.
10. The system of claim 9, wherein the plurality of sensors comprises:
at least one of a wheel speed sensor and a global positioning unit mounted on the motor vehicle, wherein each of the wheel speed sensor and the global positioning unit generates a first speed signal indicative of a speed of the motor vehicle, and the global positioning unit further generates a position signal indicative of a position of the motor vehicle and a delta speed threshold associated with the position;
wherein the controller is electrically connected to at least one of the wheel speed sensor and the global positioning unit for receiving the first speed signal and the position signal, and the controller receives a second speed signal indicative of a speed of the target vehicle;
Wherein the computer code is further configured to determine an incremental speed based on a difference between the speed of the motor vehicle and the speed of the target vehicle in response to the controller receiving the first speed signal, the position signal, and the second speed signal;
wherein the computer code is further configured to compare the incremental speed to the incremental speed threshold and the controller increases the confidence score by a predetermined increment in response to the controller determining that the incremental speed is above the incremental speed threshold.
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